相关论文: Point Cloud Models Improve Visual Robustness in Ro…

On robotics computer vision tasks, generating and annotating large amounts of data from real-world for the use of deep learning-based approaches is often difficult or even impossible. A common strategy for solving this problem is to apply…

Learning high-performance control policies that remain consistent with expert behavior is a fundamental challenge in robotics. Reinforcement learning can discover high-performing strategies but often departs from desirable human behavior,…

Deep networks have brought significant advances in robot perception, enabling to improve the capabilities of robots in several visual tasks, ranging from object detection and recognition to pose estimation, semantic scene segmentation and…

We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…

Self-supervised learning is attracting wide attention in point cloud processing. However, it is still not well-solved to gain discriminative and transferable features of point clouds for efficient training on downstream tasks, due to their…

Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a…

Diffusion-based models, widely used in text-to-image generation, have proven effective in 2D representation learning. Recently, this framework has been extended to 3D self-supervised learning by constructing a conditional point generator…

The real-world applications of 3D point clouds have been growing rapidly in recent years, but not much effective work has been dedicated to perceptual quality assessment of colored 3D point clouds. In this work, we first build a large 3D…

We introduce a novel robust hybrid 3D face tracking framework from RGBD video streams, which is capable of tracking head pose and facial actions without pre-calibration or intervention from a user. In particular, we emphasize on improving…

With the overwhelming trend of mask image modeling led by MAE, generative pre-training has shown a remarkable potential to boost the performance of fundamental models in 2D vision. However, in 3D vision, the over-reliance on…

Real-world environment-derived point clouds invariably exhibit noise across varying modalities and intensities. Hence, point cloud denoising (PCD) is essential as a preprocessing step to improve downstream task performance. Deep learning…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

The task of learning from point cloud data is always challenging due to the often occurrence of noise and outliers in the data. Such data inaccuracies can significantly influence the performance of state-of-the-art deep learning networks…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

Reinforcement learning has been demonstrated as a flexible and effective approach for learning a range of continuous control tasks, such as those used by robots to manipulate objects in their environment. But in robotics particularly,…

Point cloud has drawn more and more research attention as well as real-world applications. However, many of these applications (e.g. autonomous driving and robotic manipulation) are actually based on sequential point clouds (i.e. four…

With the advent of vision-language models (VLMs) that can perform in-context and prompt-based learning, how can we design prompting approaches that robustly generalize to distribution shift and can be used on novel classes outside the…

A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…